CN107562074A - A kind of method for allocating tasks surrounded and seize towards MAUVS - Google Patents
A kind of method for allocating tasks surrounded and seize towards MAUVS Download PDFInfo
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Abstract
It is an object of the invention to provide a kind of method for allocating tasks surrounded and seize towards MAUVS；For MAUVS target AUV during surrounding and seize intelligently escape performance improve the problem of, if strategy is still surrounded and seize using traditional, action control problem during i.e. only research is surrounded and seize, the probability increase that target AUV escapes can be caused, the present invention, which breaks through, traditional surrounds and seize strategy, a kind of method for allocating tasks surrounded and seize towards MAUVS is proposed, is effectively improved the precision of model, and then improves and surrounds and seize accuracy rate.
Description
Technical field
The present invention relates to robot to surround and seize policy techniques field, specially a kind of task distribution side surrounded and seize towards MAUVS
Method.
Background technology
Because MAUVS (Multiple Autonomous Underwater Vehicles System) has spatially
The AUV such as concurrency, stronger fault-tolerant ability and lower financial cost when distributivity, diversity functionally, execution task
Incomparable superiority so that MAUVS systems turn into the focus of people's extensive concern in recent years.The master of MAUVS system researches
Problem is wanted to include group structure, task distribution, communication mode, study in coordination.In order that it must study with more in actual scene
In meaning, researchers concentrate some MAUVS tasks are studied, including form into columns cooperate, search for, surrounding and seize.Wherein,
The problem of being one very typical, is surrounded and seize in MAUVS cooperations, and it is related to many aspects in MAUVS fields, including MAUVS systems
The technologies such as structure, communication mode, Cooperation controlling, task distribution, have after expansion in military and industrial circle relatively broad
Application.
General Study surrounds and seize that action control is in the majority in existing literature research, and not detailed design MAUVS is in the process of surrounding and seize
Middle task distribution condition, the development of mechanism is surrounded and seize with counter, if thinking rapidly successfully to surround and seize, before the good task method of salary distribution is big
Carry, patent publication No. CN105843227A, which proposes a kind of multi-robot Cooperation of task based access control closeness dynamic adjustment and surrounded and seize, to be appointed
Business distribution method, the relatively success in the research in terms of surrounding and seize task distribution, but entered using auction algorithm during surrounding and seize
Row task is distributed, and allocation strategy instantaneity is poor, therefore need propose that a kind of more excellent, dynamic is preferably surrounded and seize strategy and ground
Study carefully.
The content of the invention
With the development of intelligent robot in recent years, anti-mechanism of surrounding and seize also has obtained significant progress, that is, the mesh surrounded and seize
Marking AUV has escaping property of intelligence.The present invention proposes a kind of method for allocating tasks surrounded and seize towards MAUVS for this problem,
This method establishes new Task Assigned Policy, and proposes a kind of star-like ambuscade formation of multilayer, to traditional star-like ambuscade
Formation is made that improvement, improves the precision of model, and then improves the accuracy surrounded and seize.
It is an object of the invention to provide a kind of method for allocating tasks surrounded and seize towards MAUVS.Characterized in that, comprising with
Lower step：
Step 1 is surrounded and seize MAUVS and is made up of n isomery AUV, i.e. the energy size of single individual institute's band in n MAUVS
Different, energy size directly affects velocity magnitude, according to surround and seize MAUVS how many pairs with energy its arrange from more to less
Row, that is, obtain surrounding and seize the MAUVS { A that puts in order1,A2,A3,...,An, and the dynamic coordinate task point surrounded and seize by MAUVS
Task distribution is carried out with decision mode；
Step 2 dynamically distributes distribution ambuscade MAUVS；：According to the needs of actual conditions during surrounding and seize, surrounded and seize at n
M institute forms alternative group of { A for ambushing MAUVS with the less AUV of energy after being selected in AUV1,A2,A3,...,Am}；
AUV in alternative group selected of ambuscade MAUVS of step 3 is in respective current position with sonar contact near it
If sent out in itself sonar contact length range with the presence or absence of all ambuscade AUV in the alternative group of closest barrier
Existing barrier, then ambush MAUVS and alternatively organize to be moved at nearest barrier and hidden；If without all discovery obstacles
Thing, then ambush and find that the AUV of barrier is hidden in alternative group, do not find the barrier for nearby carrying out small range of barrier
Hinder thing to be searched for, then hidden after searching for successfully；
Step 4 deletes this AUV less than if if search out of ambuscade alternative group, is chosen in non-ambuscade MAUVS existing
Deposit the minimum AUV repeat steps three of energy, if meet it is above-mentioned hide condition, alternative group of MAUVS of ambuscade is added, if discontented
The sufficient then minimum AUV of next energy that continues to postpone, postpones twice if being still unsatisfactory for hiding condition, then no longer postpones, lie prostrate
Hit the MAUVS alternative group of corresponding quantity of reduction；The AUV being removed adds search queue as searchers in target area
Carry out the roaming search to target AUV；
Step 5 moves according to a kind of star-like ambuscade formation of multilayer to AUV, if ambuscade MAUVS is unsatisfactory for being layered
Star-like arrangement, the then equal inner layer of each ambuscade AUV ambushed in MAUVS carry out obstacle detection, and seeing whether to exist can be inside
The barrier that layer is hidden；If ambuscade AUV has found that internal layer barrier then performs step 6, if do not ambushed in AUV discoveries
Layer barrier then performs step 7；
Step 6 finds internal layer barrier if ambuscade AUV, the ambuscade AUV of discovery internal layer barrier according to energy
Size is ranked up, and is selected and carried the stronger AUV progress internal layer movements of energy；
If step 7 do not ambush AUV find internal layer barrier, simultaneously send the weaker non-ambuscade AUV of energy and
The stronger ambuscade MAUVS of respective numbers energy scans for internal layer barrier；
Step 8 if non-ambuscade AUV take the lead in reach internal layer barrier when if to carry out internal layer search barrier energy
The stronger ambuscade AUV of amount carries out the replacement of role, and step 5 is performed if ambuscade MAUVS layerings are failed；If separate into
Work(then performs step 9 and scans for task dynamically distributes；
In addition to ambushing MAUVS, remaining remaining AUV forms a team to turn into search MAUVS troops and to target step 9
AUV carries out News Search, and although ambuscade MAUVS hides after barrier, but can send sonar in clear block surface, right
Target AUV carries out static search；If not finding target AUV, repeat step nine；If searching for AUV finds target AUV,
Then perform step 10；If ambushing AUV finds target, then step 11 is performed；
If step 10 search AUV has found target AUV, then the target AUV direction substantially moved and speed are led to immediately
Believe and give other AUV, and it was found that person and search AUV closer to the distance form temporarily chase queue, in order to increase overall MAUVS
Surround and seize efficiency, finder is not to carry out blindness to chase to target AUV, and is attempt to catch up with target AUV into ambuscade
In the AUV ring of encirclement；
If step 11 ambuscade AUV has found target, then will be abandoned regardless of the energy of this ambuscade AUV institutes band hidden
Hide, and other AUV are given the target AUV direction substantially moved and speed communication, this ambuscade AUV and search closer to the distance
AUV form it is interim chase queue, target AUV is chased, and attempt to catch up with target AUV into the bag with ambuscade AUV
In enclosure；
Step 12 is all not less than the two when target AUV arrives which the two adjacent centre distances for surrounding and seize AUV lines
Surround and seize any one in AUV to center apart from when, you can be considered as and surround and seize completion；Target AUV is forced in addition, adding and chasing AUV
Break to the dead angle of barrier, be allowed at the end of one's rope, this also successfully completes the task of surrounding and seize at last.
Described step ten and step 11, more detailed division is carried out to non-ambuscade troop, that is, realizes dynamically distributes
Interception task and realize that dynamically distributes chase task, its step is as follows：
Step 1 on the basis of the target AUV direction of motion, with target AUV traffic directions it is in the same direction and run behind
Non- ambuscade MAUVS form at once and chase MAUVS；
Step 2 is chased because target AUV speed and the direction of motion make instant adjustment according to the danger surrounded and seize
The forming a team of MAUVS will also make corresponding adjustment sometimes, then the dynamic that can complete to chase AUV according to step 1 is formed a team immediately
Process；After MAUVS is chased and ambuscade MAUVS forms a team successfully, the MAUVS that remaining participation is surrounded and seize is to intercept MAUVS
Troop.
The beneficial effect that is reached of the present invention is：For MAUVS during surrounding and seize target AUV intelligently escape performance raising
The problem of, if still surrounding and seize strategy using traditional, i.e., action control problem during only research is surrounded and seize, target can be caused
The probability increase of AUV escapes, the present invention, which breaks through, traditional surrounds and seize strategy, it is proposed that a kind of task distribution surrounded and seize towards MAUVS
Method, is effectively improved the precision of model, and then improves and surround and seize accuracy rate.
Brief description of the drawings
Accompanying drawing is used for providing a further understanding of the present invention, and a part for constitution instruction, the reality with the present invention
Apply example to be used to explain the present invention together, be not construed as limiting the invention.
Fig. 1 is target AUV escape direction schematic diagrams；
Fig. 2 is target AUV breakthrough direction schematic diagrams；
Fig. 3 is to ambush the flow chart that MAUVS chooses；
Fig. 4 is traditional star ambuscade formation；
Fig. 5 is the star-like ambuscade formation of multilayer；
Fig. 6 is to chase the schematic diagram that MAUVS drives target AUV；
Fig. 7 is the star-like ambuscade ring of encirclement schematic diagram of multilayer；
Fig. 8 is to intercept MAUVS to stop target AUV schematic diagrames；
Fig. 9 is finally to surround and seize target AUV schematic diagrames；
Figure 10 is a kind of method for allocating tasks flow chart surrounded and seize towards MAUVS.
Embodiment
With the development of intelligent robot in recent years, anti-mechanism of surrounding and seize also has obtained significant progress, that is, surrounded and seize
Target AUV has escaping property of intelligence.The present invention is directed to this problem and proposes a kind of task distribution side surrounded and seize towards MAUVS
Method, is directed to surround and seize and establishes new Task Assigned Policy, and proposes a kind of star-like ambuscade formation of multilayer, to traditional star
Type ambuscade formation is made that improvement, improves the precision of model, and then improve the accuracy surrounded and seize.Below in conjunction with the accompanying drawings to this
Inventive method is further explained and illustrated.
Step 1：Task description
In two-dimensional simulation environment, some isomeries are randomly generated between target AUV and destination and surround and seize AUV, are successfully surrounded and seize
What target needed chases AUV numbers by the distance between they and surrounds and seize radius and determine.The stealth target surrounded and seize is：Surround and seize
MAUVS forms a positive n sides shape centered on target AUV, and the AUV surrounded and seize is surrounded, is allowed to that target can not be reached
Put and be forced stop motion.Following hypothesis and explanation are done when to surrounding and seize MAUVS modelings：
(1) ignore the quality and appearance information for surrounding and seize MAUVS and target AUV, be regarded as particle, and speed is constant.
(2) time of mobile AUV adjustment movement angle is ignored.
(3) each dominance of strategies is built upon on the basis of the action rule for understanding other side, and method is surrounded and seize in test
Necessarily assumed that during advantage other side flight behavior have it is intelligent.
(4) target AUV energy is sufficient that it is isomery to surround and seize MAUVS, i.e. the energy of institute's band not necessarily all phase
Together.
(5) two-dimensional coordinate system is established, to surround and seize the barycenter of any barrier in region as coordinate system center (barrier root here
Can be randomly selected according to actual conditions), y positive axis pointing methods are reversed with due north, using due east as x positive axis pointing directions.
Ambush MAUVS:Ambuscade AUV is hidden in behind barrier, and MAUVS is directed to speed energy into star-like arrangement
Less AUV is measured, in the part that barrier does not block, ambuscade AUV can be monitored to target AUV.
It was found that goal condition：When target AUV enters in the investigative range for the person of chasing, that is, think that target is found.
Close to target：After target AUV is found, notice entirety chases MAUVS and target AUV is chased, as target AUV
It was found that then taking intelligent mechanism of escaping when tracked, at this moment chase AUV and catch up with target AUV into the ambuscade encirclement to ambuscade AUV
In circle.
Intercept AUV：Chase AUV and the target AUV speed escaped and direction are informed into interception colony, intercept robot predicting t
The position of target robot after moment, it is diagonally stopped.
Surround and seize the condition of completion：When target is surrounded and seize, no matter target AUV arrives which the two adjacent centre-to-centre spacing for surrounding and seize AUV lines
From all surrounding and seize any one in AUV to a distance from center not less than the two.Its expression formula is：
In formula, diThe distance between AUV and target are surrounded and seize for i-th, d represents to surround the size of radius, and n is to surround and seize AUV
Number, θiIt is to surround i-th of AUV and its adjacent angle surrounded and seize AUV and target AUV and formed in formation, wherein
I=1,2,3...n.
Chase AUV in addition, adding and force brokenly target AUV to the dead angle of barrier, be allowed at the end of one's rope, this also at last into
Work(is completed to surround and seize task.
To make the present invention that there is more preferable practicality, then there is counter the surrounding and seize property of intelligence, i.e. target depending on target AUV escape modes
AUV is different according to the situation for finding " enemy's situation ", takes the escape mechanism thought, the first is the behavior that colony is surrounded and seize in escape, the
Two kinds be break out of an encirclement the ring of encirclement behavior.
When the person of chasing colony is not formed to target robot to be surrounded, target robot uses the escape of " considering "
Strategy, i.e., using all vector superposed opposite directions of motion state for chasing robot in sensing range, as the escape of oneself
Direction, speed are calculated as follows formula：
Fig. 1 be target AUV escape direction schematic diagram, dPRIt is target AUV to two distance for chasing AUV midpoints, designs mesh
The vigilance distance for marking AUV is dPS, work as dPR＜ dPS, target AUV will escape with maximal rate.Target AUV escape strategy be：Chase after
The Vector modulation direction of AUV speed is caught, and maximal rate escape, the speed of target AUV shown in Fig. 1 v are carried out along this directionp's
Direction is according to two speed for chasing AUV v1, v2Direction composition.
Fig. 2 is target AUV breakthrough direction schematic diagrams, is surrounded target robot in the person of chasing colony, but surround and seize task still
When not completing, target robot selects two adjacent robots that chase with target AUV using the Breakthrough Strategies of " maximum angle "
The angle the maximum formed for summit, the midpoint that robot location's line is chased towards two broken out of an encirclement, as shown in Figure 2 and mesh
Mark AUV is A for summit formation angle maximum1And A2, its line midpoint is (x12,y12)。
The direction of target robot breakthrough escape is：
Formula (x12,y12) in, it with target AUV is midpoint that summit forms two maximum persons of chasing of angle to be, is (xp,yp)
Target AUV changing coordinates, the speed of escape are target AUV maximal rate.Work as dPS＜ dPRWhen, break out of an encirclement successfully, otherwise will be by
Surround and seize.
As can be seen here, for different situations, target AUV appropriate escape mechanism can be selected to avoid chasing, if it is desired to
Quickly target AUV is surrounded and seize, corresponding Task Assigned Policy is premise, then, to surround and seize MAUVS design it is good
Task Assigned Policy is most important.
Step 2：Surround and seize MAUVS to be made up of n isomery AUV, i.e. the energy size of single individual institute's band in n MAUVS
Different, energy size directly affects velocity magnitude, according to surround and seize MAUVS how many pairs with energy its arrange from more to less
Row, that is, obtain surrounding and seize the MAUVS { A that puts in order1,A2,A3,...,An, the dynamic coordinate task distribution surrounded and seize towards MAUVS
Decision mode, its step include following process：
Step 21：Dynamically distributes ambush task, and ambuscade MAUVS queues need to meet following three conditions：
(1) institute's band energy is less, is not suitable for the AUV of long-term motion；
(2) AUV nearer from barrier；
(3) MAUVS queues are ambushed integrally to arrange in star multi-layered type.
Because target AUV speed and the direction of motion are initially unknown, the speed for surrounding and seize MAUVS is not necessarily complete big
In target AUV speed, also to consider that worst situation i.e. MAUVS speed is respectively less than target AUV speed, in this case
It is one preferably tactful to surround and seize MAUVS selection ambuscades, and this method has substantial amounts of practical work foundation, such as fox in nature
The predation of leopard cat.
It can ensure there is higher success rate using ambuscade, if surrounding and seize the speed of robot than by the speed for the person of surrounding and seize
Use general categories when small, successful probability is almost nil.Only using the overall cooperation of multi-robot system, it is only possible to
Realization is surrounded and seize, and ambush strategy can reduce the consumption of the energy surrounded and seize and time in addition.
Fig. 3 is the flow chart that ambuscade MAUVS chooses, the comprising the following steps that of including of anabolic process of ambuscade MAUVS queues：
Step 211：According to the needs of actual conditions during surrounding and seize, n surround and seize select in AUV after m institute with energy
Less AUV composition ambuscades MAUVS alternative group of { A1,A2,A3,...,Am}；
Step 212：With sonar contact, its is attached in each current position by AUV in alternative group selected of ambuscade MAUVS
It closely whether there is closest barrier, its step includes following two steps：
Step 2121：If all ambuscade AUV in alternative group have found obstacle in itself sonar contact length range
Thing, then ambush MAUVS and alternatively organize to be moved at nearest barrier and hidden；If finding barrier without whole,
Ambush and find that the AUV of barrier is hidden in alternative group, do not find the barrier for nearby carrying out small range of barrier
Search (hunting zone is the distance twice of itself sonar contact), is then hidden after searching for successfully；
Step 2122：This AUV is deleted out of ambuscade alternative group less than if if search, chosen in non-ambuscade MAUVS
The minimum AUV of existing energy repeats process above, if meet it is above-mentioned hide condition, add alternative group of MAUVS of ambuscade, such as
Fruit is unsatisfactory for, and continues the minimum AUV of next energy of postponing, postpones twice if being still unsatisfactory for hiding condition, then no longer suitable
Prolong, ambush the MAUVS alternative group of corresponding quantity of reduction.The AUV being removed adds search queue as searchers in mesh
Mark region carries out the roaming search to target AUV.
Step 213：It is illustrated in figure 4 the star-like ambuscade formation that five traditional AUV are formed：
Because target AUV be present surrounds and seize that region is very big, ambuscade MAUVS can not only pie graph 4 individual layer it is star-like
Formation is ambushed, thus the present invention proposes a kind of star-like ambuscade formation of multilayer as shown in figure 5, hierarchical basis here is according to respective
What the length that AUV sonars can be explored was carried out, i.e., i-th layer and the i-th -1 layer without overlapping search coverage.This star-like ambuscade of multilayer
Formation preferably can be hidden monitoring to target AUV, and improve the limitation of traditional star ambuscade formation, so as to carry
The high work of ambuscade queue.
On the basis of step 212, the escape hole in alternative group of MAUVS of observation ambuscade, it is whole to investigate ambuscade MAUVS queues
Whether body is in the star-like arrangement of multilayer, according to the condition required by the star-like ambuscade formation of multilayer, then makes discussion below：
If ambuscade MAUVS is unsatisfactory for tiered star arrangement, worst situation is considered, i.e., all ambuscade MAUVS exist
One layer, then the equal inner layer of each ambuscade AUV ambushed in MAUVS carries out obstacle detection, see whether to exist can inner layer hide
The barrier kept away；
2nd, if ambuscade AUV has found internal layer barrier, the ambuscade AUV of discovery internal layer barrier is entered according to energy size
Row sequence, and select and carry the stronger AUV progress internal layer movements of energy；
If the 3, not ambushing AUV finds internal layer barrier, the weaker non-ambuscade AUV of energy and respective counts are sent simultaneously
The stronger ambuscade MAUVS of energy scans for internal layer barrier；
4th, if non-ambuscade AUV take the lead in reach internal layer barrier when if to carry out internal layer search barrier energy it is stronger
Ambuscade AUV carry out role replacement,
Four steps more than repeating, until ambuscade MAUVS is layered successfully.
Step 22：On the basis of step 21, dynamically distributes search mission is carried out, its step is as follows：
Step 221：In addition to ambushing MAUVS, remaining remaining AUV forms a team to turn into search MAUVS troops and to target
AUV carries out News Search, and although ambuscade MAUVS hides after barrier, but can send sonar in clear block surface, right
Target AUV carries out static search.If not finding target AUV, continue to search in the manner described above；If it find that mesh
AUV is marked, then is divided into the following two kinds situation：
Step 2211：If searching for AUV finds target AUV, then immediately the target AUV direction substantially moved and speed
Communicate and give other AUV, and it was found that person and search AUV closer to the distance form temporarily chase queue, it is right according to step 1
Target AUV anti-strategy of surrounding and seize is discussed, and in order to increase overall MAUVS efficiency of surrounding and seize, finder is not to target AUV
Chasing for blindness is carried out, and is attempt to catch up with target AUV in the ring of encirclement with ambuscade AUV.
Step 2212：If ambushing AUV finds target, then will be abandoned regardless of the energy of this ambuscade AUV institutes band hidden
Hide, and other AUV are given the target AUV direction substantially moved and speed communication, this ambuscade AUV and search closer to the distance
AUV form it is interim chase queue, target AUV is chased, and attempt to catch up with target AUV into the bag with ambuscade AUV
In enclosure.
Be illustrated in figure 6 and chase the schematic diagram that MAUVS drives target AUV, this prescription just for the sake of enumerated three and chase AUV
Example, chase quantity in practical operation and do not limit, robot A is chased as shown in Fig. 6 (1)1, A2, A3Respectively with speed v1,
v2, v3Carry out target to chase, the intelligent policy of scuttle of the target AUV according to step 1, by speed v1, v2, v3Vector modulation,
Obtain the target AUV speed v that escapespShown direction.To be fitted during chasing according to the position of the ambuscade AUV ring of encirclements
When travel direction adjustment, i.e., the v as shown in Fig. 6 (2)2, v3Size and direction are constant, only adjust v1Direction, according to step 1
Described target AUV intelligence policy of scuttles, work as v1When changing, vpAlso change therewith, now target AUV makes turning motion,
Target can be just driven at leisure in the ambuscade MAUVS ring of encirclement.
Step 23：On the basis of step 2211 and step 2212, non-ambuscade troop is carried out more detailed division, i.e.,
Realize that dynamically distributes intercept task and realize that dynamically distributes chase task, its step is as follows：
Step 231：On the basis of the target AUV direction of motion, with target AUV traffic directions it is in the same direction and run behind
Non- ambuscade MAUVS form at once and chase MAUVS.
Step 232：Because target AUV speed and the direction of motion make instant adjustment according to the danger surrounded and seize, chase after
Catch MAUVS form a team also to make corresponding adjustment sometimes, then the dynamic that can complete to chase AUV according to step 231 is instant
Form a team process.After MAUVS is chased and ambuscade MAUVS forms a team successfully, the MAUVS that remaining participation is surrounded and seize is to intercept
MAUVS troops.
Step 3：Step 2 has been completed that the task theory of distribution surrounded and seize towards MAUVS illustrates, next this distribution
Mode is applied in the task of surrounding and seize, and proves its validity in theory, it will be assumed now that target AUV has been searched or some volt
AUV discoveries are hit, it are chased at once, it was demonstrated that process includes following steps：
Step 31：The schematic diagram that MAUVS drives target AUV is pursued and attacked according to Fig. 6, target AUV is caught up with into ambuscade
In the MAUVS ring of encirclement, the star-like ambuscade ring of encirclement schematic diagram of multilayer is illustrated in figure 7, figure intermediate cam shape represents target AUV and caught up with
The two kinds of situations entered：Triangle 1 represents target AUV and individually caught up with into i-th layer, is shunk by the ambuscade MAUVS of i-th layer of both sides
The ring of encirclement, triangle 2 represent target AUV between the i-th -1 layer and i-th layer, then target AUV is then by this two layers of distance objective
Ambuscade AUV nearer AUV coordinates completion ambuscade to surround and seize.Explanation：Surrounded and seize in figure only for facilitating two ambuscade AUV of picture for i-th layer
Surround and seize target AUV schematic diagram, the i-th -1 layer and i-th layer coordinates ambuscade to surround and seize only to have drawn four ambuscade AUV and carry out surrounding and seize explanation,
The quantity that AUV participates in surrounding is ambushed actually in both of these case not limit, and can in the light of actual conditions do actual quantity distribution.
Step 32：According to the explanation of step 2, MAUVS participant is ambushed generally by the less AUV structures of energy in team
Into, and target AUV has escaping property of intelligence, so it is inadequate only to ambush MAUVS and chase MAUVS, herein for mesh
Interception MAUVS can be introduced according to step 231 by marking AUV escaping property of intelligence.MAUVS operation logic is intercepted as shown in figure 8, intercepting
MAUVS carries out outflanking movement by target AUV behavior prediction, it is assumed that target AUV current location is Pnow, movement velocity mark
Amount is | vp|, then after time Δt, target AUV target location is：
PΔt=Pnow+|vp|·Δt
When intercepting the position that MAUVS arrival is specified, target AUV is surrounded together with chasing MAUVS and ambuscade AUV
Come, and reduce the ring of encirclement during exercise, force target AUV stop motions, be finally completed the task of surrounding and seize.
Step 33：With reference to above-mentioned ambuscade MAUVS, chase MAUVS and intercept the mutual cooperation of MAUVS three, you can be complete
Into the task of surrounding and seize, when meeting that condition is surrounded and seize in the success described in step 1, then it is considered as completion and surrounds and seize task, is illustrated in figure 9 final
Surround and seize target AUV schematic diagrames.
To sum up, a kind of method for allocating tasks flow chart for being surrounded and seize towards MAUVS is as shown in Figure 10.
Finally it should be noted that：The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention,
Although the present invention is described in detail with reference to the foregoing embodiments, for those skilled in the art, it still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic.
Within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc., it should be included in the present invention's
Within protection domain.
Claims (2)
1. a kind of method for allocating tasks surrounded and seize towards MAUVS, it is characterised in that comprise the steps of：
Step 1 is surrounded and seize MAUVS and is made up of n isomery AUV, i.e. the energy size of single individual institute's band is not in n MAUVS
Together, energy size directly affects velocity magnitude, according to surround and seize MAUVS how many pairs with energy its arrange from more to less,
Obtain surrounding and seize the MAUVS { A that puts in order1,A2,A3,...,An, and the dynamic coordinate task distribution surrounded and seize by MAUVS is determined
Plan mode carries out task distribution；
Step 2 dynamically distributes distribution ambuscade MAUVS；：According to the needs of actual conditions during surrounding and seize, in surrounding and seize AUV at n
After selection m with energy it is less AUV composition ambuscade MAUVS alternative group of { A1,A2,A3,...,Am}；
AUV in alternative group selected of ambuscade MAUVS of step 3 each current position with sonar contact its it is neighbouring whether
If all ambuscade AUV existed in the alternative group of closest barrier have found barrier in itself sonar contact length range
Hinder thing, then ambush MAUVS and alternatively organize to be moved at nearest barrier and hidden；If finding barrier without whole,
Then ambush and find that the AUV of barrier is hidden in alternative group, do not find the obstacle for nearby carrying out small range of barrier
Thing is searched for, and is then hidden after searching for successfully；
Step 4 deletes this AUV less than if if search out of ambuscade alternative group, and existing energy is chosen in non-ambuscade MAUVS
Measure minimum AUV repeat steps three, if meet it is above-mentioned hide condition, alternative group of MAUVS of ambuscade is added, if being unsatisfactory for
Continue the minimum AUV of next energy of postponing, postpone twice if being still unsatisfactory for hiding condition, then no longer postpone, ambush
The MAUVS alternative group of corresponding quantity of reduction；The AUV being removed adds search queue and entered as searchers in target area
Roaming search of the row to target AUV；
Step 5 moves according to a kind of star-like ambuscade formation of multilayer to AUV, if ambuscade MAUVS is unsatisfactory for tiered star
Arrangement, the then equal inner layer of each ambuscade AUV ambushed in MAUVS carry out obstacle detection, see whether to exist can inner layer hide
The barrier kept away；If ambuscade AUV has found that internal layer barrier then performs step 6, if not ambushing AUV finds internal layer barrier
Thing is hindered then to perform step 7；
Step 6 finds internal layer barrier if ambuscade AUV, the ambuscade AUV of discovery internal layer barrier according to energy size
It is ranked up, and selects and carry the stronger AUV progress internal layer movements of energy；
If step 7 does not ambush AUV and finds internal layer barrier, the weaker non-ambuscade AUV of energy and corresponding is sent simultaneously
The stronger ambuscade MAUVS of quantity energy scans for internal layer barrier；
Step 8 if non-ambuscade AUV take the lead in reach internal layer barrier when if to carry out internal layer search barrier energy compared with
Strong ambuscade AUV carries out the replacement of role, and step 5 is performed if ambuscade MAUVS layerings are failed；If being layered successfully
Perform step 9 and scan for task dynamically distributes；
In addition to ambushing MAUVS, remaining remaining AUV forms a team to turn into search MAUVS troops and target AUV is entered step 9
Mobile state is searched for, and although ambuscade MAUVS hides after barrier, but can send sonar in clear block surface, to target
AUV carries out static search；If not finding target AUV, repeat step nine；If searching for AUV finds target AUV, then hold
Row step 10；If ambushing AUV finds target, then step 11 is performed；
If step 10 search AUV has found target AUV, then immediately the target AUV direction substantially moved and speed communication to
Other AUV, and it was found that person and search AUV closer to the distance form temporarily chase queue, in order to increase enclosing for overall MAUVS
Efficiency is caught, finder is not to carry out blindness to chase to target AUV, and is attempt to catch up with target AUV into ambuscade AUV's
In the ring of encirclement；
If step 11 ambuscade AUV has found target, then will abandon hiding regardless of the energy of this ambuscade AUV institutes band, and
And other AUV are given the target AUV direction substantially moved and speed communication, this ambuscade AUV and search AUV structures closer to the distance
Queue is chased into interim, target AUV is chased, and attempts to catch up with target AUV into the ring of encirclement with ambuscade AUV
In；
Step 12 is all surrounded and seize when target AUV arrives which the two adjacent centre distances for surrounding and seize AUV lines not less than the two
Any one in AUV to center apart from when, you can be considered as and surround and seize completion；Target AUV is forced brokenly extremely in addition, adding and chasing AUV
At the dead angle of barrier, it is allowed at the end of one's rope, this also successfully completes the task of surrounding and seize at last.
A kind of 2. method for allocating tasks surrounded and seize towards MAUVS according to claim 1, it is characterised in that described step
Rapid ten and step 11, more detailed division is carried out to non-ambuscade troop, that is, realizes that dynamically distributes intercept task and realized dynamic
Task is chased in state distribution, and its step is as follows：
Step 1 on the basis of the target AUV direction of motion, with target AUV traffic directions it is in the same direction and run behind non-
Ambuscade MAUVS is formed at once chases MAUVS；
Step 2 is chased because target AUV speed and the direction of motion make instant adjustment according to the danger surrounded and seize
The forming a team of MAUVS will also make corresponding adjustment sometimes, then the dynamic that can complete to chase AUV according to step 1 is formed a team immediately
Process；After MAUVS is chased and ambuscade MAUVS forms a team successfully, the MAUVS that remaining participation is surrounded and seize is to intercept MAUVS
Troop.
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